Acoustical underwater control apparatus

ABSTRACT

An acoustical control apparatus for controlling the operation of underwater valve equipment from the surface by coded acoustical signals and monitoring the status of the equipment by acoustical signals. A radioisotope thermoelectric generator positioned underwater continuously charging a battery which powers a pump for maintaining hydraulic pressure in an accumulator for actuating an underwater valve, all of which is controlled and monitored about the water surface by the use of coded acoustical signals.

States atent 1 1 [111 3,732,534 Koomey et al. 1 ay 8, 1973 [54] ACOUSTICAL UNDERWATER 3,070,773 12/1962 Woolston et a1. ..340/5 CONTROL APPARATUS 3,126,559 3/1964 Alexander ..9 10 3,138,778 6/1964 Dulin r ..340/15 [75] Inventors: Paul C. Koomey, Houston, Tex.; 33,3160 41967 G Id 340 18X Alan J. st eb; George s. savers 0 man t of Baltimore, Theodore FOREIGN PATENTS OR APPLICATIONS R. Barker, III, Pasadena, Md.

631,601 11/1949 Great Bntam ..340/5 [7 3] Assignee: Global Marine, Inc., Los Angeles,

Calif- Primary Examiner-Richard A. Farley 22 d; July 3 19 7 Attorney-Russell R. Palmer, Jr. [Zl] App]. No.: 650,814 57 ABSTRACT Related Applicamm Data An acoustical control apparatus for controlling the [62] Division of Ser. No. 504,742, Oct. 24, 1965, Pat. No. underwater Valve equipment from the 3,405,381 surface by coded acoustical signals and monitoring the status of the equipment by acoustical signals. A [52] 11.8. C1. ..340/5 R, 340/151 r ioi tope thermoelectric generator positioned un- [51] Int. Cl. ..H04b 111/01) derwatcr continuously charging a battery which [58] Field of Search ..340/2, 3 E, 4 E, powers a pump for maintaining hydraulic pressure in 340/45, 5, 5 T, 15, 16 C, 18, 182, 183, 189, an accumulator for actuating an underwater valve, all 151; 181/.5 A; 9/8, 10; 166/5, .6 of which is controlled and monitored about the water surface by the use of coded acoustical signals. [56] References Cited 16 Claims, 7 Drawing Figures UNITED STATES PATENTS 3,034,099 5 1962 Brixner ..340/182 x w PATENTEDHAY 81915 $732,534

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ATTO P/VIFVJ PATENTED HAY 81973 SHEET 3 [1F 6 INVENTORJ ATTORA/E'YJ PATENTEDHAY 8 197a SHEET 5 [IF 6 PATENTEMM 81875 sum 8 [1F 6 INVENTORS Slum- W A TTO/PA/A' VJ ACOUSTICAL UNDERWATER CONTROL APPARATUS This application is a division of copending application Ser. No. 504,742, filed on the 24th day of Oct. 1965 and now US. Pat. No. 3,405,387.

The present invention relates to an acoustical underwater control apparatus, and more particularly, relates to an apparatus for controlling underwater equipment by acoustical signals between a control station and the underwater equipment.

Generally, various types of underwater control equipment are used such as blowout preventer controls, well head controls, pipeline valve controls, and control of underwater storage facilities. However, the control systems presently in use to operate such underwater equipment generally requires the use of electrical cables, hydraulic lines, or other physical connections from the surface to the underwater equipment. However, such control lines and cables are disadvantageous as they frequently interfere with drilling operations, and are cut or damaged by boats as well as being damaged or blown away by storms and hurricanes.

It is the general object of the present invention to provide a control system for controlling underwater equipment which will have no physical connection or at least a minimum number of control lines extending between the surface and the underwater equipment.

It is still a further object of the present invention to provide underwater control apparatus for operating underwater equipment by means of acoustical signals thereby eliminating control lines and cables extending towards the water surface.

A still further object of the present invention is the provision of an acoustical underwater control apparatus for acoustically controlling underwater equipment and for monitoring the status of the underwater equipment by receiving acoustical status signals.

Still a further object of the present invention is the provision of acoustical signals to open and close underwater devices and to gather and transmit to the surface acoustical signals providing information as to the status of said underwater equipment.

Yet a further object of the present invention is the provision of an acoustical underwater control apparatus for controlling underwater hydraulically actuated equipment by providing a hydraulic accumulator adjacent the equipment, electrical switching means controlling the actuation of the equipment by the accumulator, providing electrically actuated pumps for maintaining hydraulic pressure in the accumulator, and providing battery means positioned adjacent the equipment providing the necessary electrical power, and controlling the operation of the equipment from the surface by means of acoustical signals.

Still a further object of the present invention is the provision of an acoustical control system for control of underwater equipment from the surface by providing electrical control means positioned underwater for actuation of the equipment, an underwater acoustical receiver connected to and actuating the electrical control means and an acoustical transmitter and control means positioned above the water for transmitting controlling signals to the underwater receiver.

Yet a further object of the present invention is the provision of an acoustical underwater control apparatus which does not require physical connections to the surface control station and which will operate for extended periods of time without maintenance by providing an underwater power generator for continuously charging a storage battery for providing the necessary power for operating hydraulically operated valves in a hydraulic system including an accumulator which is periodically charged from the opening and closing sub-surface equipment and obtaining status information on the valves by means of acoustical signals.

Still a further object of the present invention is the provision of an underwater acoustical control system having a nuclear powered energy source that will operate underwater equpment without connections to the surface for extended unattended periods in which communication between a surface control station and the underwater system is accomplished by coded acoustical signals.

Still a further object of the present invention is the provision of an underwater control system having a power system which includes a radioisotope thermoelectric generator as a primary energy source, a

power conditioner which increases and regulates the voltage of the primary power, and an electrochemical storage battery to store energy for the peak load requirement during the system actuation.

Yet a further object of the present invention is the provision of an acoustically controlled underwater control apparatus for controlling hydraulically actuated valves positioned underwater by providing a hydraulic accumulator supplying the hydraulic fluid for actuation of valves, an electrically operated pump for maintaining the necessary actuation pressure in the accumulator, electrical switching control means for controlling the acutation of the valve, a continuously charged battery supplying energy for operation of the system, electrical position indicating means connected to the valve for providing signals indicating the position of the valve, and acoustical transmitting and receiving means underwater and on the surface for providing control signals from the surface and supplying positioning signals to the surface.

Other and further objects, features and advantages will be apparent in the following description of a presently preferred embodiment of the invention, taken into conjunction with the accompanying drawings in which like character references designate like parts throughout the several views, and where,

FIG. 1 is an elevational view, partly schematic, and partly in cross-section, illustrating the apparatus of the present invention in use for controlling underwater well head valves,

FIG. 1A is a block diagram of the control panel of FIG. 1,

FIG. 1B is an enlarged elevational view, partly in cross-section showing the underwater controls of FIG.

FIG. 2 is a hydraulic and electrical schematic diagram of the power controls of the apparatus of FIG. 1,

FIG. 3 is a schematic diagram of the electrical status and control system of the apparatus of FIG. 1,

FIG. 4 is a schematic of the acoustical signals transmitted in the apparatus of FIG. 1, and

FIG. 5 is a graphic representation of the control panel at the surface of the apparatus of FIG. 1.

While the present invention will be described in its use as controlling and operating valves at an underwater wellhead, it will be apparent that the present invention is not so limited, but can be used to operate and control other types of underwater equipment, by way of example only, blowout preventer controls; pipeline controls and underwater storage controls.

Referring now to FIG. 1, the numeral 10 generally indicates the underwater acoustical apparatus of the present invention in use in controlling two valves 12 and 14 (FIG. 2) positioned underwater at a wellhead 11, by coded acoustical transmissions and without the necessity of a physical connection between the control station and the valves. The apparatus 10 generally includes a control station 16, which may be suitably positioned above the water surface such as on an offshore rig 13 and which sends and receives acoustical signals to the underwater equipment through a sound transducer 22. As drawn in FIG. 1A, the control station 16 includes an encoder 17, a transmitter 18, and a receiver 19, and a decoder 20 connected to a control panel 21. The underwater portion of the apparatus 10 also includes a sound transducer 24 (FIG. 3) which is connected to a control package 26 which includes a suitable acoustical transmitter 27 and receiver 29, electrical controls 31, encoder 33, and decoder 35 for actuating and signaling the status of the valves 12 and 14.

Preferably, and referring to FIG. 2, the valves 12 and 14 are hydraulically actuated valves which are operated by hydraulic fluid from an accumulator 30. Hydraulic fluid flows from accumulator 30 through line 32 to valve 12, and through line 34 to valve 14, which lines are respectively controlled by suitable valve and control means such as solenoid valves 36 and 38 respectively. The solenoid actuated valves are three way, two positioned, control valves which in the position shown in FIG. 2 conduct high pressure hydraulic fluid from the accumulator 30 to the wellhead valves 12 and 14 to place them in the open position. The control valves are conventional dual solenoid actuated and detent locked so that once the solenoid is actuated no further electrical energy is required to hold the valve in position. The three way control valves transmit high pressure fluid to the wellhead valves 12 and 14 to open them, and vent the wellhead valves 12 and 14 to a reservoir 44 for closing. Thus, no fluid flows through the valves 12 and 14, and the pressure in the accumulator 30 will keep the valves open without further action from the hydraulic system since check valve d will prevent back flow from the accumulator 30. When the solenoid valves 36 and 38 are actuated to the closed position, the solenoid valves will move in the second position thereby venting the high pressure fluid in the valves through line 42 to a fluid reservoir 44. Since the second sides of the valves 12 and 14 are connected to an exhaust line 46 leading to the reservoir 44, there will be no differential pressure across the valve 12 and 114 and the wellhead valves 12 and 14 will be closed by fail closed springs to place them in the closed position. Valves l2 and 14 are conventional spring loaded fail close types and therefore no additional hydraulic energy is required to close them once they are open and satisfactory valves may be obtained from W.K.M.

The accumulator 330 is preferably two gas precharged hydraulic accumulators connected in parallel either one of which is capable of operating the system in the event of a leak and conventional Koomey type units are satisfactory. In order to keep the hydraulic actuation system charged for use a conventional pump 46 operated by a dc motor 48 may be provided to pump fluid from the reservoir 44 to the accumulator 30 to maintain the required operating pressure in the accumulator 30.

As is noted from FIG. 1, all of the hydraulic components are positioned in the housing 26 adjacent the valves 12 and 14 thereby eliminating the need for a plurality of hydraulic hoses leading to the surface. Of course, if desired the accumulator 30, pump 46, motor 48 and reservoir 44 could be placed above the water in the barge 20 with only a single hydraulic line leading underwater to the solenoid valves 36 and 38 by venting the return line 46 to the water. However, the structure shown in FIG. 1 avoids the necessity of any control or power cables which might interfere with oilwell operations and which would be subject to severence.

Of course, if desired, the valves 12 and 14 may be directly operated by electrically powered equipment such as solenoids or reversible electric motors and in that event the hydraulic control equipment may be omitted.

The electrical power supply (FIG. 18) includes a storage battery 50 to provide the electrical energy for operating the dc motor 48, the solenoid valves 36 and 38 and the acoustical and electrical control package 26. However, the use only of a storage battery would require that the apparatus 10 be brought to the surface and recharged or replaced approximately every three months. Therefore for unattended extended periods of time, for example of up to three or more years, a generator 52 may be provided such as a radioisotope thermoelectric generator such as manufactured by the Martin Company as a primary power source, including a power conditioning device 53, if desired, manufactured by the same company, that would step up the generator voltage to a higher value and regulate the voltage as necessary to continuously supply power to the storage battery 50 which is preferably of a nickelcadmium type. The thermoelectric generator derives its energy from a source of heat from the decaying energy of the radioisotope fuel which is then partially converted into electricity by direct energy conversion, and provides a device having no moving parts which can operate unattended for long periods of time.

The communications and control subsystem performs the functions of actuating the valves 12 and 14 from the control station 116, determining the status of various components of the system, and reporting the status of various components of the system, and reporting the status to the control panel 16, and in addition, may perform a closed loop control to keep the accumulators 30 at operating pressure. Referring now to FIGS. 1, 3, 4, and 5, control station 16 includes a graphic control panel showing graphically the underwater components, and includes suitable control and status equipment. Thus, valve 12 shown graphically on panel 51 includes a switch 54 for opening and closing valve 12. Similarly, valve 14 includes an operational panel 56 having a switch 58 for operating valve 14. Thus, movement of one of the switches 54 or 58 is transmitted to encoder 17, and to transmitter 18 to provide a coded 29, decoded by decoder 35 and converted to an electrical control signal by suitable controls 31. Thus, a signal would be sent out from the control package 26 to relay 60 (FIGs. 2 and 3) to close contacts 62 to energize solenoid 64 in the event the solenoid valve 36 is to be opened. On the other hand, if the solenoid valve 36 is to be closed a signal is sentlfrom the package 26 to relay 66 closing contact 68 thereby energizing solenoid 70 to actuate solenoid valve 36 to close and relieve fluid pressure on valve 12. Similarly, signals sent to coil 71 act to close contact 72 to actuate solenoid 741 opening solenoid valve 38. And signals sent to coil 76 close contacts 78 to energize solenoid 82 to close hydraulic solenoid valve 38.

Referring again to FIG. 5 the graphic control panel includes a switch 86 for controlling the dc motor 48 for increasing the fluid pressure in the accumulator 30. Thus, by actuating switch 86 a coded acoustical signal is sent from encoder l7 and transmitter 18 to the control package 26 for conversion to an electrical signal which is transmitted to coil 88 (FIGS. 2 and 3) closing cfiitact 90 to actuate the dc motor 48 to increase the fluid pressure in the accumulator 30. If desired, an automatic pressure switch 92 is provided (FIG. 3) which monitors the accumulator pressure and in the event that the pressure drops below a predetermined level will actuate a relay 94 and close contact 96 to automatically operate the motor 43. Referring to FIGS. 3, 4, and 5, it is noted that in addition to the actuation or control signals that are sent from the surface to the subsurface equipment, the graphic control panel has indicating lights to indicate the status of different system parameters such as battery voltage, accumulator pressure, position of the wellhead valves 12 and 14, reservoir level, pump motor on or off and water level in the housing 26. Thus, in FIG. 5, lights 100 and 102 indicate whether the battery voltage is normal or low and this information is obtained from voltage sensor 1104 (FIG. 3) which measures the battery voltage, transmits this to the control package 26 where it is converted to an acoustical coded signal by encoder 33 and transmitted by transmitter 27 to the control station l6 where it is received by receiver 19 and decoded by decoder to display the information. Similarly, the open 1 and close 108 indicating lights on the graphic control panel (FIG. 5) and indicating lights 110 and 112 indicate respectively whether the valves 12 and M are open or closed. This information is obtained from limit switches 114, 1116, 118, and 120 (FIG. 3) which is transmitted through cable 122 (FIG. 1B) from the valves 12 and M to the control package 26 to again be encoded and transmitted to the surface to indicate the position status of valve 12 and 14. Similarly indicating lights 124 and 126 in FIG. 5 indicate whether the accumulator pressure is normal or low and is obtained from the pressure sensor 128 (FIG. 3) which is again transmitted to the surface by acoustical signals. And a fluid level sensor 130 (FIG. 3) monitors the level of the hydraulic fluid in the reservoir 44 and transmits this information to the graphic control panel wherein lights E32, 134, and 136 clearly indicate this information. And to indicate a possible leak in the housing 25, high and normal water level indicating lights 138 and 140 are provided, which are controlled by a level switch (not shown) in the housing. A summary of the signals which are sent from the control panel 16 to the underwater control package 26 and of the status information returned from the underwater package 28 to the control panel 16 are clearly shown in FIG. 4. Thus, in operation the status of the various components is recorded by means of lights indicating the position of the valves, reservoir 44 oil pressure, water level in the main housing 25, accumulator 30 pressure, pump motor 48 operation, and battery 50 voltage. In addition, the accumulator pressure switch 92 (FIG. 3) will automatically maintain the necessary accumulator pressure for operating the valves 12 and 14. However, if desired, switch 86 on the control panel 16 (FIG. 5) may be actuated to override pressure switch 92 and build up greater accumulator pressure by sending a coded acoustical signal to the control package 26 where the acoustical signal is decoded, and converted to an electrical signal to actuate relay 88 closing contact to energize dc motor 48 and pump hydraulic fluid from the reservoir 44 to the accumulator 30.

When it is desired to operate one of the underwater valves 12 or 14, switches 54 and 58 may be actuated to generate an acoustical signal from the control panel 16 through encoder l7 and transmitter 18, to sound transducer 22, to the underwater sound transducer 24 to the control package 26 where the signal is received by receiver 29, decoded by decoder 35, and converted to an electrical signal to actuate one of the coils 60, 66, 70, or '76 respectively, so as to actuate the hydraulic solenoid valves 36 and 38 to either direct hydraulic fluid from the accumulator 30 to the valves 12 and 14 or to cut off the flow of fluid to the valves 1'12 and 14 whereby they are suitably closed. And of course, the status of the valves are visually observed by the indicating lights 106, 1108, I10 and 112 by the movement of the corresponding limit switches 1114, 116, 1318 and on the valves 12 and 14. Similarly, the status of the battery 50 voltage, accumulator 30 pressure, reservoir 44 level, pump 46 status, and water level in the housing 26 is similarly monitored, coded, transmitted to the surface control panel 16 where it is decoded and the information is flashed on a corresponding indicating light.

By way of example only the transmitter may operate on a carrier frequency of 200,000 cps and the sending signals may vary such as by 1000 cycles for decoding purposes.

Thus, the acoustical underwater control system of the present invention will provide a control system without connection to thesurface for extended unattended periods of time, and will display on the surface control panel the status of the various operative components of the system.

The present invention, therefore, is well suited to carry out the objects and attain the ends and advantages mentioned as well as others inherent therein. While a presently preferred embodiment of the invention is given for the purpose of disclosure, numerous changes and details of construction and arrangements of parts may be readily made which will suggest themselves to those skilled in the arts and which are encompassed within the spirit of the invention and the scope of the appended claims.

What is claimed is:

1. An acoustical control system for controlling underwater equipment comprising:

a hydraulic actuated valve positioned underwater;

a hydraulic accumulator positioned underwater for supplying hydraulic fluid for actuation of said valve;

an electric motor for maintaining hydraulic pressure in said accumulator;

electrical switching means positioned underwater for actuating the opening and closing of said valve;

electrical control means positioned underwater for controlling the actuation of said electric motor and said electrical switching means;

battery means positioned underwater providing electrical power and electrically connected to said electric motor and said electrical switching means;

an acoustical underwater receiver connected to and controlling said electrical control means;

an acoustical transmitter and control circuit means located in the vicinity of said water surface including a sound transducer positioned in the water for transmitting valve controlling signals to said underwater receiver;

electrical position indicating means positioned underwater and arranged to provide status signals indicating the position of said valve;

acoustical transmitting means connected to said position indicating means providing an acoustical signal for transmitting the status position of said valve; and

acoustical receiving means located in the vicinity of said water surface including a sound transducer positioned in said water for receiving said status position signals of said valve. v

2. An acoustical control system for controlling underwater equipment comprising:

a hydraulically actuated valve positioned underwater;

a hydraulic accumulator positioned underwater for supplying hydraulic fluid for actuation of said valve;

an electric motor for maintaining hydraulic pressure in said accumulator;

electrical switching means positioned underwater for actuating the opening and closing of said valve;

electrical control means positioned underwater for controlling the actuation of said motor and said switching means;

battery means positioned underwater providing electrical power and electrically connected to said motor and said switching means;

an acoustical underwater receiver connected to and controlling said electrical control means;

an acoustical transmitter and control circuit means located in the vicinity of said water surface including a sound transducer positioned in the water for transmitting valve controlling signals to said underwater receiver;

an electrical battery voltage sensor connected to said battery to provide status signals as to the voltage of said battery;

an electrical accumulator pressure sensor connected to said accumulator to provide status signals as to the pressure within said accumulator;

transmitting means positioned underwater connected to said sensors providing an acoustical signal for transmitting status signals of said battery voltage and accumulator pressure; and

acoustical receiving means located in the vicinity of said water surface including a sound transducer positioned in said water for receiving said sensor status signals.

3. A system for remote operation of an underwater device comprising:

a device located beneath thesurface of a body of water and operable upon application of energy from an external source;

an external source of energy including a battery located adjacent said device and means in position for recharging said battery;

means located in the vicinity of said water surface for transmitting a wireless control signal through said water;

means located adjacent said device for receiving said control signal and for connecting said source of energy to said device upon receipt of same;

status indicating means positioned underwater and arranged in association with said device for determining the operative status of said device;

means located adjacent said device and connected to said indicating means for transmitting wireless status signals through saidlwater indicative of the operative status of said device; and

means located in the vicinity of said water surface for receiving said status signals. 7

4. The apparatus of claim 3 wherein-said means for recharging said battery includes,

a source of nuclear energy.

5. The apparatus of claim 3 wherein said means for recharging said battery includes, a radioisotope energy source.

6. The apparatus of claim 3 wherein said means for recharging said battery includes,

a radioisotope thermoelectric generator.

7. Apparatus for remote control of underwater equipment, comprising:

a device disposed beneath the surface of a body of water, the device being operable by application of external energy; energy-storage means disposed adjacent the device for storing energy to operate the device;

control means coupled to the device and the energystorage means and actuable to release energy from the energy-storage means and to direct the released energy to the device for operation of the device; radioisotope energy converter disposed adjacent and coupled to the energy-storage means for conditioning energy produced by radioisotope decay into a form of energy which is storable in the energy-storage means whereby the energy-storage means is charged by the converter;

a subsurface acoustic transceiver disposed adjacent and coupled to the control means for transmitting and receiving water-propagated acoustic signals, the transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals;

a surface acoustic transceiver disposed at the surface of the body of water for transmitting and receiving acoustic signals to and from the subsurface acoustic transceiver, the surface transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals; and a surface command unit coupled to the'surface transceiver for supplying an actuating signal to the surface transceiver for encoding and transmission to the subsurface transceiver and thence to actuate the control means to release energy from the energy-storage means 'whereby the device is operated. 8. The apparatus defined in claim 7 in which the control means includes sensing means coupled to the device, energy-storage means, and radioisotope energy converter, for sensing operating conditions in the subsurface apparatus and generating status signals analogous to the operating conditions for transmission by the subsurface transceiver; and further comprising display means coupledto the surface transceiver for displaying to a surface operator the received status signals.

9. The apparatus defined in claim 8 in which the energy-storage means comprises a hydraulic accumulator for storing hydraulic fluid under pressure, and in which the device is operated when supplied withhydraulic fluid from the accumulatorthrough the control means.

10. The apparatus defined in claim 9, in which the radioisotope energy'converter includes means driven by the radioisotope-decay energy for recharging the accumulator.

11. The, apparatus defined in claim 10 in which the recharging means comprises a thermoelectric generator operated by the radioisotope-decay energy for producing electricity, a battery coupled to and charged by the thermoelectric generator, and a motor-driven pump coupled to and driven by the battery for pumping hydraulic fluid into the accumulator.

12. The apparatus defined in claim 11 in which the device is a blowout preventer mounted on, a wellhead ofa subsurface well.

13. The apparatus defined in claim 11 in which the device is a valve mounted on a wellhead of a subsurface well.

, 14. Apparatus for remote control of underwater equipment, comprising: i

a device disposed beneath the surfaceof a body of water, the device being operablebyapplication of external energy; energy-storage means disposed adjacent the device for storing energy to operate the device; control means coupled to the device and the energystorage means and actuable to release energy from the energy-storage means and to direct the released energy to the device for operation of the I device;

an energy converter disposed adjacent and coupled to the energy-storage means for conditioning energy into a form of energy which is storable in the energy'storage means whereby theenergy-storage means is charged by the converter;

a subsurface wireless signal receiver disposed adjacent and coupled to the control means for receiving water-propagated wireless signals, the receiver including coding means for decoding the signals whereby the signals are distinguishable from extraneous signals;

a surface wireless transmitter disposed at the surface of the body of water for transmitting waterpropagated signals to the subsurface receiver, the surface transmitter including coding means for encoding the signals whereby the signals are distinguishable from extraneous signals;

a surface command unit coupled to the surface transmitter for supplying an actuating signal to the surface transmitter for encoding and transmission to the subsurface receiver and thence to actuate the control means to release energy from the energystorage means whereby the device is operated; and

means for monitoring the status of the subsurface energy-storage means and transmitting such information to the surface.

15. Apparatus for remote control of underwater equipment, comprising:

a device disposed beneath the surface of a body of water, the device being operable by application of external energy;

energy-storage means disposed adjacent the device for storing energy to operate the device;

control means coupled to the device and the energystorage means and actuable to release energy from the energy-storage means and to direct the released energy to the device for operation of the device;

an energy converter disposed adjacent and coupled to the energy-storage means for conditioning energyinto a form of energy which is storable in the energy-storage means whereby the energy-storage means is charged by the converter;

a subsurface transceiver disposed adjacent and coupled to the control means for transmitting and receiving water-propagated signals, the transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous signals; 7

a surface transceiver disposed at the surface of the body of water for transmitting and receiving waterpropagated signals to and from the subsurface transceiver, the surface transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous signals; and

a surface command unit coupled to the surface transceiver for supplying an actuating signal to the surface transceiver for encoding and transmission to the subsurface transceiver and thence to actuate the control means to release energy from the energy-storage means whereby the device is operated.

16. Apparatus for remote control of underwater equipment, comprising:

a device disposed beneath the surface of a body of water, the device being operable by application of external energy;

energy-storage means disposed adjacent the device for storing energy to operate the device;

control means coupled to the device and the energystorage means and actuable to release energy from the energyistorage means and to direct the released energy to the device for operation of the device;

an energy converter disposed adjacent and coupled to the energy-storage means for conditioning energy into a form of energy which is storable in the energy-storage means whereby the energy-storage means is charged by the converter;

a subsurface acoustic transceiver disposed adjacent and coupled to the control means for transmitting and receiving water-propagated acoustic signals, the transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals;

a surface acoustic transceiver disposed at the surface of the body of water for transmitting and receiving acoustic signals to and from the subsurface acoustic transceiver, the surface transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals; and

a surface command unit coupled to the surface transceiver for supplying an actuating signal to the surface transceiver for encoding and transmission to the subsurface transceiver and thence to actuate the control means to release energy from the energy-storage means whereby the device is operated. 

1. An acoustical control system for controlling underwater equipment comprising: a hydraulic actuated valve positioned underwater; a hydraulic accumulator positioned underwater for supplying hydraulic fluid for actuation of said valve; an electric motor for maintaining hydraulic pressure in said accumulator; electrical switching means positioned underwater for actuating the opening and closing of said valve; electrical control means positioned underwater for controlling the actuation of said electric motor and said electrical switching means; battery means positioned underwater providing electrical power and electrically connected to said electric motor and said electrical switching means; an acoustical underwater receiver connected to and controlling said electrical control means; an acoustical transmitter and control circuit means located in the vicinity of said water surface including a sound transducer positioned in the water for transmitting valve controlling signals to said underwater receiver; electrical position indicating means positioned underwater and arranged to provide status signals indicating the position of said valve; acoustical transmitting means connected to said position indicating means providing an acoustical signal for transmitting the status position of said valve; and acoustical receiving means located in the vicinity of said water surface including a sound transducer positioned in said water for receiving said status position signals of said valve.
 2. An acoustical control system for controlling underwater equipment comprising: a hydraulically actuated valve positioned underwater; a hydraulic accumulator positioned underwater for supplying hydraulic fluid for actuation of said valve; an electric motor for maintaining hydraulic pressure in said accumulator; electrical switching means positioned underwater for actuating the opening and closing of said valve; electrical control means positioned underwater for controlling the actuation of said motor and said switching means; battery means positioned underwater providing electrical power and electrically connected to said motor and said switching mEans; an acoustical underwater receiver connected to and controlling said electrical control means; an acoustical transmitter and control circuit means located in the vicinity of said water surface including a sound transducer positioned in the water for transmitting valve controlling signals to said underwater receiver; an electrical battery voltage sensor connected to said battery to provide status signals as to the voltage of said battery; an electrical accumulator pressure sensor connected to said accumulator to provide status signals as to the pressure within said accumulator; transmitting means positioned underwater connected to said sensors providing an acoustical signal for transmitting status signals of said battery voltage and accumulator pressure; and acoustical receiving means located in the vicinity of said water surface including a sound transducer positioned in said water for receiving said sensor status signals.
 3. A system for remote operation of an underwater device comprising: a device located beneath the surface of a body of water and operable upon application of energy from an external source; an external source of energy including a battery located adjacent said device and means in position for recharging said battery; means located in the vicinity of said water surface for transmitting a wireless control signal through said water; means located adjacent said device for receiving said control signal and for connecting said source of energy to said device upon receipt of same; status indicating means positioned underwater and arranged in association with said device for determining the operative status of said device; means located adjacent said device and connected to said indicating means for transmitting wireless status signals through said water indicative of the operative status of said device; and means located in the vicinity of said water surface for receiving said status signals.
 4. The apparatus of claim 3 wherein said means for recharging said battery includes, a source of nuclear energy.
 5. The apparatus of claim 3 wherein said means for recharging said battery includes, a radioisotope energy source.
 6. The apparatus of claim 3 wherein said means for recharging said battery includes, a radioisotope thermoelectric generator.
 7. Apparatus for remote control of underwater equipment, comprising: a device disposed beneath the surface of a body of water, the device being operable by application of external energy; energy-storage means disposed adjacent the device for storing energy to operate the device; control means coupled to the device and the energy-storage means and actuable to release energy from the energy-storage means and to direct the released energy to the device for operation of the device; a radioisotope energy converter disposed adjacent and coupled to the energy-storage means for conditioning energy produced by radioisotope decay into a form of energy which is storable in the energy-storage means whereby the energy-storage means is charged by the converter; a subsurface acoustic transceiver disposed adjacent and coupled to the control means for transmitting and receiving water-propagated acoustic signals, the transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals; a surface acoustic transceiver disposed at the surface of the body of water for transmitting and receiving acoustic signals to and from the subsurface acoustic transceiver, the surface transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals; and a surface command unit coupled to the surface transceiver for supplying an actuating signal to the surface transceiver for encoding and transmission to the subsurface transceiver and thence to actuate the control means to reLease energy from the energy-storage means whereby the device is operated.
 8. The apparatus defined in claim 7 in which the control means includes sensing means coupled to the device, energy-storage means, and radioisotope energy converter, for sensing operating conditions in the subsurface apparatus and generating status signals analogous to the operating conditions for transmission by the subsurface transceiver; and further comprising display means coupled to the surface transceiver for displaying to a surface operator the received status signals.
 9. The apparatus defined in claim 8 in which the energy-storage means comprises a hydraulic accumulator for storing hydraulic fluid under pressure, and in which the device is operated when supplied with hydraulic fluid from the accumulator through the control means.
 10. The apparatus defined in claim 9, in which the radioisotope energy converter includes means driven by the radioisotope-decay energy for recharging the accumulator.
 11. The apparatus defined in claim 10 in which the recharging means comprises a thermoelectric generator operated by the radioisotope-decay energy for producing electricity, a battery coupled to and charged by the thermoelectric generator, and a motor-driven pump coupled to and driven by the battery for pumping hydraulic fluid into the accumulator.
 12. The apparatus defined in claim 11 in which the device is a blowout preventer mounted on a wellhead of a subsurface well.
 13. The apparatus defined in claim 11 in which the device is a valve mounted on a wellhead of a subsurface well.
 14. Apparatus for remote control of underwater equipment, comprising: a device disposed beneath the surface of a body of water, the device being operable by application of external energy; energy-storage means disposed adjacent the device for storing energy to operate the device; control means coupled to the device and the energy-storage means and actuable to release energy from the energy-storage means and to direct the released energy to the device for operation of the device; an energy converter disposed adjacent and coupled to the energy-storage means for conditioning energy into a form of energy which is storable in the energy-storage means whereby the energy-storage means is charged by the converter; a subsurface wireless signal receiver disposed adjacent and coupled to the control means for receiving water-propagated wireless signals, the receiver including coding means for decoding the signals whereby the signals are distinguishable from extraneous signals; a surface wireless transmitter disposed at the surface of the body of water for transmitting water-propagated signals to the subsurface receiver, the surface transmitter including coding means for encoding the signals whereby the signals are distinguishable from extraneous signals; a surface command unit coupled to the surface transmitter for supplying an actuating signal to the surface transmitter for encoding and transmission to the subsurface receiver and thence to actuate the control means to release energy from the energy-storage means whereby the device is operated; and means for monitoring the status of the subsurface energy-storage means and transmitting such information to the surface.
 15. Apparatus for remote control of underwater equipment, comprising: a device disposed beneath the surface of a body of water, the device being operable by application of external energy; energy-storage means disposed adjacent the device for storing energy to operate the device; control means coupled to the device and the energy-storage means and actuable to release energy from the energy-storage means and to direct the released energy to the device for operation of the device; an energy converter disposed adjacent and coupled to the energy-storage means for conditioning energy into a form of energy which is storable in the energy-storage means whereby the energy-storage means is charGed by the converter; a subsurface transceiver disposed adjacent and coupled to the control means for transmitting and receiving water-propagated signals, the transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous signals; a surface transceiver disposed at the surface of the body of water for transmitting and receiving water-propagated signals to and from the subsurface transceiver, the surface transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous signals; and a surface command unit coupled to the surface transceiver for supplying an actuating signal to the surface transceiver for encoding and transmission to the subsurface transceiver and thence to actuate the control means to release energy from the energy-storage means whereby the device is operated.
 16. Apparatus for remote control of underwater equipment, comprising: a device disposed beneath the surface of a body of water, the device being operable by application of external energy; energy-storage means disposed adjacent the device for storing energy to operate the device; control means coupled to the device and the energy-storage means and actuable to release energy from the energy-storage means and to direct the released energy to the device for operation of the device; an energy converter disposed adjacent and coupled to the energy-storage means for conditioning energy into a form of energy which is storable in the energy-storage means whereby the energy-storage means is charged by the converter; a subsurface acoustic transceiver disposed adjacent and coupled to the control means for transmitting and receiving water-propagated acoustic signals, the transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals; a surface acoustic transceiver disposed at the surface of the body of water for transmitting and receiving acoustic signals to and from the subsurface acoustic transceiver, the surface transceiver including coding means for encoding and decoding the signals whereby the signals are distinguishable from extraneous acoustic signals; and a surface command unit coupled to the surface transceiver for supplying an actuating signal to the surface transceiver for encoding and transmission to the subsurface transceiver and thence to actuate the control means to release energy from the energy-storage means whereby the device is operated. 